A hierarchical menu system displays submenus in place of parent menus, and vice versa, when appropriate menu items are selected from within parent menus and submenus. Parent menu items selected from within parent menus are displayed within submenus as links back to previous parent menus. Benefits of the disclosed hierarchical menu system include the ability to implement a hierarchical menu on devices having varying screen sizes, including small-screen devices, while maintaining a history of previously selected menu items that enable a user to navigate within the hierarchical menu to any previously displayed menu.